Welding device for butt-joint forming of curved-surface ship body

Abstract

The invention discloses a welding device for butt joint forming of a curved-surface ship body, relates to the technical field of welding, and aims to solve the technical problem of high-precision self-adaptive automatic welding of the curved-surface ship body. Comprising an opposite moving mechanism, a ship body bearing mechanism, a self-adaptive curvature mechanism, a pole climbing mechanism and a dual-mode welding executing mechanism. And the self-adaptive curvature mechanism drives the connecting rod assembly through the driving unit, so that the tough track generates curvature change matched with a to-be-welded curved surface. The dual-mode welding executing mechanism can move along the track and execute two welding paths, and the first path is large in folding period, small in width and used for penetration of the root of a weld joint; the second path is small in folding period and large in width and is used for efficiently filling a weld surface layer. The device has the advantages of being high in integration and self-adaption, flexible in welding mode switching and high in welding quality, the whole-process operation from positioning and track matching to automatic welding of butt joint of the curved-surface ship body is achieved, and efficiency and quality are remarkably improved.

Description

Technical Field

[0001] This invention relates to the field of ship hull welding technology, and more specifically, to a welding apparatus for butt welding of curved ship hulls. Background Technology

[0002] Shipbuilding and marine engineering equipment manufacturing is a crucial indicator of a nation's heavy industry strength, and one of its core processes is the docking and welding of large ship hull sections. With the continuous upgrading of ship design and performance, the application of hull sections with complex three-dimensional spatial curved surfaces is becoming increasingly common to meet the requirements of hydrodynamics and structural strength. When these sections are docked, the joints are continuous spatial curves, posing unprecedented challenges to welding precision, forming quality, and automation implementation, and has become a key bottleneck restricting the improvement of efficiency and quality in high-end shipbuilding.

[0003] Currently, in curved hull docking operations, the mainstream process still relies on a semi-automated mode primarily using fixed rigid tooling. This mode has significant limitations: First, it lacks process flexibility. Specialized tooling is usually designed for specific hull types and curvatures, resulting in high production line changeover costs and long cycles, making it difficult to adapt to the demands of modern manufacturing with multiple varieties and small batches. Second, the level of automation and intelligence is limited. Existing equipment often struggles to achieve autonomous, high-precision tracking of welding trajectories on complex spatial curves, and the welding torch posture cannot adapt in real time, still requiring significant manual intervention and experience-based compensation, making it difficult to guarantee welding quality stability. Third, the system coordination is poor. The welding process and the positioning, clamping, and posture adjustment of the sheet metal are often independent of each other, lacking integrated collaborative control, which affects the overall smoothness and accuracy of the operation.

[0004] Therefore, there is an urgent need for an innovative welding apparatus that integrates docking, positioning, and welding functions, adapts to different curvatures, and enables continuous, precise, and automated welding operations, thereby driving the advancement of shipbuilding technology. In this regard, we propose a welding apparatus for the docking and forming of curved hulls. Summary of the Invention

[0005] The purpose of this invention is to provide a welding device for the docking and forming of curved ship hulls, so as to solve the technical problem of high-precision adaptive automated welding of curved ship hulls.

[0006] To solve the above-mentioned technical problems, the present invention provides the following technical solution: a welding device for forming curved hull docking, comprising a countermoving mechanism, hull bearing mechanisms symmetrically arranged on the countermoving mechanism, an adaptive curvature mechanism between the two hull bearing mechanisms, a climbing mechanism on the adaptive curvature mechanism, and a dual-mode welding execution mechanism movably arranged on the adaptive curvature mechanism. The adaptive curvature mechanism includes a platform, a drive unit, a support, a linkage assembly, and a flexible track. The platform is located between the two hull support mechanisms. The drive unit is configured to drive the linkage assembly to move so that the ductile track produces a curvature change that adapts to the curved hull surface to be welded. The dual-mode welding actuator is configured to move along the tough track and execute at least two different welding paths; wherein, the first welding path has a relatively large undulation period and a relatively small welding width, which is suitable for achieving full penetration and stable forming at the root of the weld; the second welding path has a relatively small undulation period and a relatively large welding width, which is suitable for achieving efficient filling and smooth coverage of the weld surface.

[0007] Preferably, the drive unit is disposed on the platform, the bracket is symmetrically disposed on the drive unit, one end of the connecting rod assembly is rotatably disposed on the bracket, the other end of the connecting rod assembly is rotatably disposed on the output end of the drive unit, and the flexible track is fixedly disposed on the ends of the two connecting rod assemblies and the output end of the drive unit.

[0008] Preferably, the linkage assembly includes a first linkage and a second linkage, the first linkage is hinged to the bracket at its middle, one end of the second linkage is hinged to the first linkage, and the other end of the second linkage is hinged to the output end of the drive unit.

[0009] Preferably, the resilient track includes a track body, a receiving carrier, an arc rod, and a corrugated groove. The track body is fixedly disposed at the ends of the two connecting rod assemblies and the output end of the drive unit. The receiving carrier is symmetrically fixedly disposed on the track body. The arc rod is fixedly connected to the receiving carrier. The climbing mechanism is movably disposed on the arc rod. The corrugated groove is formed on the track body. The dual-mode welding actuator is movably inserted into the corrugated groove.

[0010] Preferably, the drive unit includes a hydraulic cylinder and a middle load block, the hydraulic cylinder is disposed on the platform, and the middle load block is disposed at the output end of the hydraulic cylinder.

[0011] Preferably, the dual-mode welding actuator includes a curved movement component, an adjustment component, a connecting component, and a welding head. The curved movement component is movably inserted into the flexible track. One end of the adjustment component is fixedly mounted on the curved movement component, and the other end of the adjustment component is movably inserted into the curved movement component. One end of the connecting component is connected to the bottom end of the curved movement component, and the other end of the connecting component is fixedly connected to the climbing rod mechanism. One end of the welding head is movably inserted into the curved movement component, and the other end of the welding head is fixedly connected to the output end of the adjustment component.

[0012] Preferably, the curve moving component includes a moving carrier and rollers, the rollers are symmetrically arranged at the bottom end of the moving carrier, the moving carrier is movably mounted on the flexible track via the rollers, and one end of the adjusting component is fixedly mounted on the moving carrier.

[0013] Preferably, the curved moving component further includes a protrusion and a groove, the protrusion is fixedly disposed on the moving carrier, the groove is formed on the moving carrier and the protrusion, and the welding head is movably inserted into the groove.

[0014] Preferably, the adjustment assembly includes a cylinder and a lever. The cylinder is fixedly mounted on the moving carrier, one end of the lever is fixedly connected to the output end of the cylinder, and the other end of the lever is fixedly connected to the welding head. The lever is L-shaped.

[0015] Preferably, the connecting assembly includes a push rod, a ball head, and a telescopic rod. The push rod is fixedly connected to the bottom end of the curved movement assembly, the ball head is rotatably connected to the push rod, one end of the telescopic rod is connected to the climbing mechanism, and the other end of the telescopic rod is connected to the ball head. The resilient track is also provided with an inner groove, and the push rod, the ball head and the telescopic rod are all partially movable on the inner groove.

[0016] Compared with the prior art, the beneficial effects of the present invention are: 1. This invention integrates a countermoving mechanism, a hull-bearing mechanism, an adaptive curvature mechanism, a climbing mechanism, and a dual-mode welding actuator to form a complete solution for curved hull docking and forming. This device can adapt to complex three-dimensional curved surfaces with different curvatures and automatically complete the entire process from workpiece positioning and trajectory matching to multi-layer welding. It completely changes the traditional model that relies on fixed tooling and manual experience, significantly improving the efficiency, accuracy, and quality consistency of curved hull docking.

[0017] 2. This invention enables the flexible track to actively and precisely generate continuous spatial curvature changes that perfectly match the surface to be welded by driving the linkage assembly through a drive unit. Utilizing the principle of symmetrical linkage amplification, this mechanism requires only a central drive source to achieve synchronous bending of the entire track. Its mechanical structure is simple and reliable, and its power transmission is highly efficient. It solves the fundamental problem that traditional rigid tracks cannot adapt to varying curved surfaces, providing a precise physical guide for welding operations.

[0018] 3. This invention creatively combines an adjustable lateral offset welding head with a fixed corrugated groove. By simply adjusting the component to change the fixed position of the welding head on the curved moving component, the welding torch tip can follow two trajectories with drastically different corrugation periods and welding widths under the constraint of the same corrugated groove, suitable for root pass welding and cover pass welding respectively. This design enables rapid and reliable switching of process paths without the need for complex dynamic tracking or multiple motion mechanisms, greatly simplifying system complexity and control difficulty.

[0019] 4. The first welding path provided by this invention, characterized by long undulations and a narrow width, facilitates heat concentration and molten pool control, ensuring full penetration and weld quality at the root. The second welding path, characterized by short undulations and a wide width, achieves efficient filling of wide weld passes and a smooth surface. The two paths can be seamlessly switched according to process requirements, perfectly adapting to the process requirements of multi-layer, multi-pass welding. This effectively solves the problem of different quality requirements for root pass and cap pass welding in curved hull docking, resulting in stable overall welding quality and aesthetically pleasing weld formation. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0021] Figure 2 This is a top view of the overall structure of the present invention.

[0022] Figure 3 This is a schematic diagram of the opposing moving mechanism and the hull bearing mechanism of the present invention.

[0023] Figure 4 This is a side view of the opposing moving mechanism and the hull bearing mechanism of the present invention.

[0024] Figure 5 This is a schematic diagram of the opposing movement mechanism, adaptive curvature mechanism, climbing mechanism, and dual-mode welding actuator of the present invention.

[0025] Figure 6 This is a side view of the adaptive curvature mechanism of the present invention.

[0026] Figure 7 This is a schematic diagram of the adaptive curvature mechanism structure of the present invention.

[0027] Figure 8 This is a schematic diagram of the resilient track structure of the present invention.

[0028] Figure 9 This is a schematic diagram of the curved movement component, adjustment component, connection component, and welding head structure of the present invention.

[0029] Figure 10 This is a schematic diagram of the curve movement component, adjustment component, and welding head structure of the present invention.

[0030] Figure 11 This is a schematic diagram of the movement trajectory of the welding head under the first welding path of the present invention.

[0031] Figure 12 This is a schematic diagram of the welding head movement trajectory under the second welding path of the present invention.

[0032] Explanation of the labels in the diagram: 1. Opposing movement mechanism; 2. Hull bearing mechanism; 3. Adaptive curvature mechanism; 4. Pole climbing mechanism; 5. Dual-mode welding actuator; 301. Platform; 302. Drive unit; 303. Support; 304. Linkage assembly; 305. Flexible track; 3021, Hydraulic cylinder; 3022, Intermediate load block; 3041, First Link; 3042, Second Link; 3051. Track body; 3052. Connecting carrier; 3053. Arc rod; 3054. Corrugated groove; 501. Curve movement component; 502. Adjustment component; 503. Connection component; 504. Welding head 5011. Moving carrier; 5012. Roller; 5013. Protrusion; 5014. Slide groove; 5021, cylinder; 5022, lever; 5031, push rod; 5032, ball head; 5033, telescopic rod. Detailed Implementation

[0033] like Figures 1 to 12 As shown, the present invention relates to a welding device for forming curved hull docking, comprising a countermoving mechanism 1, hull bearing mechanisms 2 symmetrically arranged on the countermoving mechanism 1, an adaptive curvature mechanism 3 arranged between the two hull bearing mechanisms 2, a climbing mechanism 4 arranged on the adaptive curvature mechanism 3, and a dual-mode welding execution mechanism 5 movably arranged on the adaptive curvature mechanism 3. The adaptive curvature mechanism 3 includes a platform 301, a drive unit 302, a support 303, a linkage assembly 304, and a flexible track 305. The platform 301 is located between the two hull support mechanisms 2. The drive unit 302 is configured to drive the linkage assembly 304 to move so that the rigid track 305 produces a curvature change that adapts to the curved hull surface to be welded. The dual-mode welding actuator 5 is configured to move along the tough track 305 and execute at least two different welding paths; wherein, the first welding path has a relatively large undulation period and a relatively small welding width, which is suitable for achieving full penetration and stable forming at the root of the weld; the second welding path has a relatively small undulation period and a relatively large welding width, which is suitable for achieving efficient filling and smooth coverage of the weld surface.

[0034] It should be noted that the opposing moving mechanism 1, the hull bearing mechanism 2 and the climbing mechanism 4 in this invention can adopt various structural forms known in the art to realize their corresponding functions. Their specific structures and connection methods can be adjusted according to actual working conditions. Any technical solution that can realize the relative movement of the two hull sections, fix the bearing curved surface sections, and provide the welding execution mechanism with the power to move along the track is within the protection scope of this invention.

[0035] In this invention, the curved hull sections to be docked are first fixed onto the hull support mechanisms 2 on both sides of the opposing moving mechanism 1. Then, based on the actual three-dimensional curvature of the joint between the two sections, the driving unit 302 precisely drives the connecting rod assembly 304 to move, which in turn pulls the flexible track 305 to generate a continuous spatial curvature change that perfectly matches it, thus providing a physical guiding reference for the welding actuator that highly matches the weld trajectory. Next, the dual-mode welding actuator 5 moves along the flexible track 305 with a preset curvature. During the root pass welding stage, it automatically calls the first welding path, i.e., long undulations and small width, to achieve high-quality full penetration at the root through gentle oscillation and concentrated heat input. During the cover pass welding stage, it automatically switches to the second welding path, i.e., short undulations and large width, to achieve efficient filling and smoothing of the surface weld bead through rapid oscillation and wide coverage. This process seamlessly integrates surface self-adaptation, trajectory guidance, and dual-mode welding technology, realizing full-process automation from plate positioning and trajectory matching to multi-layer welding, significantly improving the accuracy, efficiency, and quality consistency of curved hull docking.

[0036] In an embodiment of the present invention, a drive unit 302 is disposed on a platform 301, a bracket 303 is symmetrically disposed on the drive unit 302, one end of a connecting rod assembly 304 is rotatably disposed on the bracket 303, and the other end of the connecting rod assembly 304 is rotatably disposed on the output end of the drive unit 302, and a flexible track 305 is fixedly disposed on the ends of the two connecting rod assemblies 304 and the output end of the drive unit 302.

[0037] In this invention, the drive unit 302 is fixed to the center of the platform 301, with symmetrical supports 303 arranged on both sides to form a stable support base. One end of the connecting rod assembly 304 is hinged to the support 303, and the other end is hinged to the output end of the drive unit 302. The two ends and the middle of the flexible track 305 are respectively fixedly connected to the ends of the connecting rod assemblies 304 on both sides and the output end of the drive unit 302. When the output end of the drive unit 302 performs linear extension and retraction, it will synchronously drive the connecting rod assemblies 304 on both sides to rotate around their hinge points with the supports 303. This linkage mechanism accurately converts linear drive into symmetrical and coordinated radial displacement, thereby forcing the flexible track 305 to produce smooth, continuous and controllable curvature deformation. This design forms a symmetrical linkage amplification mechanism with the drive unit as the core. Its advantages are that only one central drive source is needed to achieve precise and synchronous control of the curvature of the entire track. The mechanical structure is simple and reliable, the power transmission is efficient, and the complexity of multi-drive point coordinated control is significantly reduced, ensuring high-fidelity matching between track deformation and target surface.

[0038] In an embodiment of the present invention, the linkage assembly 304 includes a first linkage 3041 and a second linkage 3042. The first linkage 3041 is hinged to the bracket 303 at its middle part, one end of the second linkage 3042 is hinged to the first linkage 3041, and the other end of the second linkage 3042 is hinged to the output end of the drive unit 302.

[0039] In this invention, the linkage assembly 304 employs a two-stage hinged linkage design, specifically including a first linkage 3041 and a second linkage 3042. The first linkage 3041 is hinged to the bracket 303 at its central position, forming a lever fulcrum. One end of the second linkage 3042 is hinged to the end of the first linkage 3041, while the other end is directly hinged to the output end of the drive unit 302. When the output end of the drive unit 302 performs linear motion, it first drives the second linkage 3042, and then transmits the force and motion to the first linkage 3041 through the hinge point, forcing the first linkage 3041 to rotate around its central fulcrum. This kinematic chain constitutes an effective displacement amplification and motion conversion mechanism.

[0040] In another embodiment of the present invention, the resilient track 305 includes a track body 3051, a receiving carrier 3052, an arc rod 3053, and a corrugated groove 3054. The track body 3051 is fixedly mounted on the ends of the two connecting rod assemblies 304 and the output end of the drive unit 302. The receiving carrier 3052 is symmetrically fixedly mounted on the track body 3051. The arc rod 3053 is fixedly connected to the receiving carrier 3052. The climbing mechanism 4 is movably mounted on the arc rod 3053. The corrugated groove 3054 is opened on the track body 3051. The dual-mode welding actuator 5 is movably inserted into the corrugated groove 3054.

[0041] It is worth noting that the materials of the track body 3051, the connecting carrier 3052 and the arc rod 3053 in this invention are preferably spring steel with high toughness and high elastic limit, such as spring steel of type 60Si2MnA, and its characteristic thickness along the bending force direction should not be greater than 15mm.

[0042] In this invention, the resilient track 305 adopts a multifunctional composite structure, the core of which is a long strip track body 3051 with a certain degree of flexibility. The two ends and key points in the middle of the track body 3051 are respectively fixed to the ends of the connecting rod assemblies 304 on both sides and the output end of the drive unit 302, thereby directly converting the driving displacement of the connecting rod into the bending deformation of the track itself. When the track body 3051 is bent by the driving of the connecting rod, the trajectory of the arc rod 3053 and the corrugated groove 3054 carried on it will change synchronously.

[0043] In another embodiment of the present invention, the drive unit 302 includes a hydraulic cylinder 3021 and a middle load block 3022. The hydraulic cylinder 3021 is disposed on the platform 301, and the middle load block 3022 is disposed at the output end of the hydraulic cylinder 3021.

[0044] In this invention, the hydraulic system drives the piston rod of the cylinder 3021 to perform precise linear reciprocating motion. This linear motion is directly converted into a thrust or pull force output on the connecting rod assemblies 304 on both sides through the middle load block 3022. The middle load block 3022 not only acts as a mechanical interface, but also plays a role in load equalization and enhancing the connection rigidity of the piston rod end.

[0045] In an embodiment of the present invention, the dual-mode welding actuator 5 includes a curved movement component 501, an adjustment component 502, a connecting component 503, and a welding head 504. The curved movement component 501 is movably inserted into the flexible track 305. One end of the adjustment component 502 is fixedly disposed on the curved movement component 501, and the other end of the adjustment component 502 is movably inserted into the curved movement component 501. One end of the connecting component 503 is connected to the bottom end of the curved movement component 501, and the other end of the connecting component 503 is fixedly connected to the climbing rod mechanism 4. One end of the welding head 504 is movably inserted into the curved movement component 501, and the other end of the welding head 504 is fixedly connected to the output end of the adjustment component 502.

[0046] In this invention, the climbing mechanism 4 serves as the main power source, and its power is transmitted to the curved moving component 501 through the connecting component 503, driving the entire curved moving component 501 to slide smoothly along the corrugated groove 3054 on the track body 3051. When the adjusting component 502 is in the initial or holding state and the position of the welding head 504 is not actively adjusted, the positional relationship between the welding head 504 and the curved moving component 501 is fixed. At this time, the movement trajectory of the welding head 504 is completely determined by the sliding path of the curved moving component 501 in the corrugated groove 3054, forming a first welding path. This path inherits the geometric features of the corrugated groove and has a relatively large corrugation period and a small welding width. When the adjusting component 502 drives the welding head 504 to an offset position away from the central axis of the toughening track 305, the oscillation center of the welding head 504 shifts accordingly. The geometric features of the corrugated groove 3054 remain unchanged, but due to the shift in the oscillation center position, the same corrugated groove 3054 constraint significantly increases the amplitude of the actual oscillation path formed by the welding head 504. This increased amplitude manifests as a significant increase in the weld width in the actual welding effect. Simultaneously, the corrugation period remains constant depending on the physical shape of the corrugated groove 3054, but due to the increased weld width, the corrugation period appears relatively smaller in both visual and functional terms.

[0047] This design enables the welding head 504 to produce two distinct welding path modes under the same track corrugation groove 3054 by adjusting the lateral position of a single adjustment component 502. Without the need for complex dynamic tracking or additional motion mechanisms, the process switch from root pass to cover pass can be completed through simple mechanical position adjustment, improving system reliability and process stability.

[0048] In an embodiment of the present invention, the curve moving component 501 includes a moving carrier 5011 and a roller 5012. The roller 5012 is symmetrically arranged at the bottom end of the moving carrier 5011. The moving carrier 5011 is movably mounted on the flexible track 305 via the roller 5012. One end of the adjusting component 502 is fixedly mounted on the moving carrier 5011.

[0049] In this invention, when the climbing mechanism 4 pulls the component through the connecting component 503, the driving force is transmitted to the roller 5012 through the moving carrier 5011. The roller 5012 rolls in the corrugated groove 3054, thereby efficiently converting the traction force into smooth movement along a predetermined path.

[0050] In another embodiment of the present invention, the curved moving component 501 further includes a protrusion 5013 and a groove 5014. The protrusion 5013 is fixedly disposed on the moving carrier 5011, the groove 5014 is formed on the moving carrier 5011 and the protrusion 5013, and the welding head 504 is movably inserted into the groove 5014.

[0051] In this invention, the groove 5014 provides a unique and precise linear trajectory constraint for the movement of the welding head 504. When the adjusting component 502 drives the welding head 504, the slider on the welding head 504 slides along the groove 5014; the design of the protrusion 5013 increases the guiding distance of the groove 5014.

[0052] In another embodiment of the present invention, the adjustment component 502 includes a cylinder 5021 and a lever 5022. The cylinder 5021 is fixedly mounted on the moving carrier 5011. One end of the lever 5022 is fixedly connected to the output end of the cylinder 5021, and the other end of the lever 5022 is fixedly connected to the welding head 504. The lever 5022 is L-shaped.

[0053] In this invention, when the piston rod of the cylinder 5021 extends or retracts, it drives the short arm end of the L-shaped folding rod 5022 to move along the cylinder axis, and the folding rod 5022 pushes or pulls the welding head 504 to slide precisely in the slide groove 5014.

[0054] In an embodiment of the present invention, the connecting component 503 includes a push rod 5031, a ball head 5032, and a telescopic rod 5033. The push rod 5031 is fixedly connected to the bottom end of the curved movement component 501, the ball head 5032 is rotatably connected to the push rod 5031, one end of the telescopic rod 5033 is connected to the climbing mechanism 4, and the other end of the telescopic rod 5033 is connected to the ball head 5032. The resilient track 305 is also provided with an inner groove, on which the push rod 5031, ball head 5032 and telescopic rod 5033 are partially movable.

[0055] In this invention, the driving force generated by the climbing mechanism 4 is transmitted through the telescopic rod 5033, and finally acts on the curved movement component 501 through the ball head 5032 and the push rod 5031, thereby achieving traction of it along the track.

[0056] Meanwhile, to accommodate the connecting component 503 and ensure its movement is not interfered with, a continuous inner groove is also formed along the length of the track body 3051 of the flexible track 305. The push rod 5031, ball head 5032 and telescopic rod 5033 are all partially located in this inner groove, and can make corresponding longitudinal movements and slight lateral adaptations within the groove as the curved movement component 501 moves and the track itself bends.

[0057] Working principle: This embodiment provides a method for using a welding device for butt welding of curved ship hulls, including the following steps: Step 1: Workpiece clamping and positioning; The two curved hull sections to be docked are fixedly installed on the hull support mechanism 2 on both sides, and the positions of the two sections are adjusted by the opposing moving mechanism 1 so that their docking edges are initially aligned to form the docking seam to be welded. Step 2: Adaptive matching of orbit curvature; Based on the actual three-dimensional curvature of the hull to be welded, the hydraulic cylinder 3021 of the drive unit 302 is controlled to move. The output end of the drive unit 302 drives the connecting rod assembly 304 to move through the central load block 3022. The first connecting rod 3041 and the second connecting rod 3042 on both sides are linked under the support of the bracket 303, thereby precisely pulling the track body 3051 of the tough track 305 to produce a continuous curvature change that perfectly matches the spatial curve of the butt joint. The trajectories of the arc rod 3053 and the corrugated groove 3054 fixed on the track body 3051 change synchronously accordingly. Step 3: Positioning and path selection of the welding actuator; The climbing mechanism 4 is activated, causing it to climb along the already bent arc rod 3053. Through the connecting assembly 503, including the push rod 5031, ball head 5032, and telescopic rod 5033, it drives the dual-mode welding actuator 5 to move as a whole to the welding starting position. Based on the welding process requirements, the welding path mode is selected: If a root pass is to be performed, the control adjustment component 502, such as the cylinder 5021 and the L-shaped bending rod 5022, is used to make the welding head 504 in the groove 5014 of the curved moving component 501 in the first preset position, such as close to the center, to prepare to execute the first welding path, which has long undulations and a small width. If a cover weld is to be performed, the control adjustment component 502 is used to move and fix the welding head 504 to the second preset position, such as away from the center, in preparation for executing the second welding path, which has short bends and a large width; Step 4: Implement automated welding; The climbing mechanism 4 continuously provides power, pulling the curved movement component 501 via the connecting component 503. The rollers 5012 at the bottom of the curved movement component 501 roll within the corrugated groove 3054, driving the entire actuator to move at a constant speed along a track perfectly matched to the butt joint. During this process, the welding head 504, in a fixed position determined by the adjusting component 502, has its lateral swing center locked. The trajectory of the welding head 504's tip is determined by its fixed position on the moving carrier 5011 and the geometry of the corrugated groove 3054, thus stably traversing the selected welding path and completing high-quality welding. When switching from root pass welding to cover pass welding, the adjusting component 502 can quickly adjust the lateral position of the welding head 504 at the welding pause point or during continuous movement, switching to the second welding path mode to continue welding, achieving continuous automated operation of multiple weld passes. Step 5: Welding completed and repositioned; After the entire weld seam is completed, the climbing mechanism 4 drives the welding actuator to return to its initial position. The drive unit 302 reverses its movement, restoring the flexible track 305 to its straight or initial state for the next work cycle. The hull support mechanism 2 is released, and the welded hull section is removed.

[0058] The embodiments disclosed in this invention are preferred embodiments, but are not limited thereto. Those skilled in the art can easily understand the spirit of this invention based on the above embodiments and make different extensions and variations, but as long as they do not depart from the spirit of this invention, they are all within the protection scope of this invention.

Claims

1. A welding apparatus for butt welding of curved ship hulls, characterized in that, It includes a countermoving mechanism (1), on which a hull bearing mechanism (2) is symmetrically provided, and between the two hull bearing mechanisms (2) is an adaptive curvature mechanism (3), on which a climbing mechanism (4) is provided, and on which a dual-mode welding actuator (5) is also movably provided; The adaptive curvature mechanism (3) includes a platform (301), a drive unit (302), a bracket (303), a linkage assembly (304), and a resilient track (305). The platform (301) is located between the two hull support mechanisms (2). The drive unit (302) is configured to drive the linkage assembly (304) to move so that the tough track (305) produces a curvature change that is adapted to the curved hull surface to be welded; The dual-mode welding actuator (5) is configured to move along the tough track (305) and execute at least two different welding paths; wherein the first welding path has a relatively large undulation period and a relatively small welding width, which is suitable for achieving full penetration and stable forming at the root of the weld; the second welding path has a relatively small undulation period and a relatively large welding width, which is suitable for achieving efficient filling and smooth coverage of the weld surface.

2. The welding apparatus for butt welding of curved hulls according to claim 1, characterized in that, The drive unit (302) is mounted on the platform (301), the bracket (303) is symmetrically mounted on the drive unit (302), one end of the connecting rod assembly (304) is rotatably mounted on the bracket (303), the other end of the connecting rod assembly (304) is rotatably mounted on the output end of the drive unit (302), and the flexible track (305) is fixedly mounted on the ends of the two connecting rod assemblies (304) and the output end of the drive unit (302).

3. The welding apparatus for butt welding of curved hulls according to claim 1, characterized in that, The linkage assembly (304) includes a first linkage (3041) and a second linkage (3042). The first linkage (3041) is hinged to the bracket (303) at its middle part. One end of the second linkage (3042) is hinged to the first linkage (3041), and the other end of the second linkage (3042) is hinged to the output end of the drive unit (302).

4. The welding apparatus for butt welding of curved hulls according to claim 1, characterized in that, The resilient track (305) includes a track body (3051), a receiving carrier (3052), an arc rod (3053), and a corrugated groove (3054). The track body (3051) is fixedly mounted on the ends of the two connecting rod assemblies (304) and the output end of the drive unit (302). The receiving carrier (3052) is symmetrically fixedly mounted on the track body (3051). The arc rod (3053) is fixedly connected to the receiving carrier (3052). The climbing mechanism (4) is movably mounted on the arc rod (3053). The corrugated groove (3054) is opened on the track body (3051). The dual-mode welding actuator (5) is movably inserted into the corrugated groove (3054).

5. The welding apparatus for butt welding of curved hulls according to claim 1, characterized in that, The drive unit (302) includes a hydraulic cylinder (3021) and a middle block (3022). The hydraulic cylinder (3021) is mounted on the platform (301), and the middle block (3022) is located at the output end of the hydraulic cylinder (3021).

6. The welding apparatus for butt forming of curved hulls according to claim 5, characterized in that, The dual-mode welding actuator (5) includes a curved movement component (501), an adjustment component (502), a connecting component (503), and a welding head (504). The curved movement component (501) is movably inserted into the flexible track (305). One end of the adjustment component (502) is fixedly mounted on the curved movement component (501), and the other end of the adjustment component (502) is movably inserted into the curved movement component (501). One end of the connecting component (503) is connected to the bottom end of the curved movement component (501), and the other end of the connecting component (503) is fixedly connected to the climbing rod mechanism (4). One end of the welding head (504) is movably inserted into the curved movement component (501), and the other end of the welding head (504) is fixedly connected to the output end of the adjustment component (502).

7. A welding apparatus for butt welding of curved hulls according to claim 6, characterized in that, The curved movement component (501) includes a moving carrier (5011) and rollers (5012). The rollers (5012) are symmetrically arranged at the bottom end of the moving carrier (5011). The moving carrier (5011) is movably mounted on the flexible track (305) via the rollers (5012). One end of the adjustment component (502) is fixedly mounted on the moving carrier (5011).

8. The welding apparatus for butt welding of curved hulls according to claim 7, characterized in that, The curved moving component (501) further includes a protrusion (5013) and a groove (5014). The protrusion (5013) is fixedly disposed on the moving carrier (5011), and the groove (5014) is formed on the moving carrier (5011) and the protrusion (5013). The welding head (504) is movably inserted into the groove (5014).

9. A welding apparatus for butt welding of curved hulls according to claim 8, characterized in that, The adjustment assembly (502) includes a cylinder (5021) and a lever (5022). The cylinder (5021) is fixedly mounted on the moving carrier (5011). One end of the lever (5022) is fixedly connected to the output end of the cylinder (5021), and the other end of the lever (5022) is fixedly connected to the welding head (504). The lever (5022) is L-shaped.

10. A welding apparatus for butt welding of curved hulls according to claim 9, characterized in that, The connecting assembly (503) includes a push rod (5031), a ball head (5032), and a telescopic rod (5033). The push rod (5031) is fixedly connected to the bottom end of the curved moving assembly (501). The ball head (5032) is rotatably connected to the push rod (5031). One end of the telescopic rod (5033) is connected to the climbing mechanism (4), and the other end of the telescopic rod (5033) is connected to the ball head (5032). The resilient track (305) is also provided with an inner groove, and the push rod (5031), the ball head (5032) and the telescopic rod (5033) are all partially movable on the inner groove.

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